Use const and/or references for string arguments in RViz plugin where appropriate

drt_behavior_visualization/include/drt_behavior_visualization/ui/behavior_approval_widget.hpp

@@ -74,7 +74,7 @@ class BehaviorApprovalWidget : public QWidget
 
   void timer_cb();
 
-  void process_input(const bool& input);
+  void process_input(const bool input);
 
 private Q_SLOTS:
 };

drt_behavior_visualization/include/drt_behavior_visualization/ui/behavior_tree_widget.hpp

@@ -39,6 +39,7 @@
 #include <memory>
 #include <sstream>
 #include <string>
+#include <string_view>
 /**
  *  Include header generated from ui file
  *  Note that you will need to use add_library function first
@@ -63,11 +64,36 @@ class BehaviorTreeWidget : public QWidget
   rclcpp::Node::SharedPtr node_;
   std::unique_ptr<Ui::behavior_tree_widget> ui_;
 
-  const std::string green = "\033[92m";
-  const std::string red = "\033[91m";
-  const std::string blue = "\033[96m";
-  const std::string yellow = "\033[93m";
-  const std::string end_color = "\033[0m";
+  static constexpr std::string green = "\033[92m";
+  static constexpr std::string red = "\033[91m";
+  static constexpr std::string blue = "\033[96m";
+  static constexpr std::string yellow = "\033[93m";
+  static constexpr std::string end_color = "\033[0m";
+
+  // Text replacement mapping using string_view for zero-allocation matching
+  struct Replacement
+  {
+    std::string_view old_text;
+    std::string_view new_text;
+  };
+
+  // Define the list of text replacements in the order they should be applied.
+  const std::vector<Replacement> text_replacements = { { green, "<font color=\"Green\">" },
+                                                       { "\x1b[32m", "<font color=\"Green\">" },
+                                                       { red, "<font color=\"Red\">" },
+                                                       { "\x1b[31m", "<font color=\"Red\">" },
+                                                       { blue, "<font color=\"Blue\">" },
+                                                       { "\x1b[34m", "<font color=\"Blue\">" },
+                                                       { yellow, "<font color=\"Orange\">" },
+                                                       { "\x1b[33m", "<font color=\"Orange\">" },
+                                                       { "\x1b[36m", "<font color=\"Cyan\">" },
+                                                       { end_color, "</font>" },
+                                                       { "\x1b[0m", "</font>" },
+                                                       { "\t", "  " },
+                                                       { "│   ", "|&nbsp;&nbsp;&nbsp;" },
+                                                       { "    ", "&nbsp;&nbsp;&nbsp;&nbsp;" },
+                                                       { "\n", "<br/>" },
+                                                       { "\r", "<br/>" } };
 
   std::string active_behavior = "";
 
@@ -93,11 +119,10 @@ class BehaviorTreeWidget : public QWidget
   void get_behavior_trees_cb(const rclcpp::Client<btcpp_ros2_interfaces::srv::GetTrees>::SharedFuture future);
   void logger_callback(const std_msgs::msg::String::SharedPtr msg);
   void bt_status_callback(const std_msgs::msg::String::SharedPtr msg);
-  std::string replace_string(std::string string_to_replace, std::string old_text, std::string new_text);
 
   void update_bt_text();
   void update_log_text();
-  std::string process_text(std::string text);
+  void process_text(std::string& text);
 
   void waitForClient(rclcpp::ClientBase::SharedPtr client);
 

drt_behavior_visualization/src/ui/behavior_approval_widget.cpp

@@ -71,7 +71,7 @@ void BehaviorApprovalWidget::timer_cb()
   }
 }
 
-void BehaviorApprovalWidget::process_input(const bool& input)
+void BehaviorApprovalWidget::process_input(const bool input)
 {
   // Check if there optional variable is set
   if (request_header)

drt_behavior_visualization/src/ui/behavior_tree_widget.cpp

@@ -16,6 +16,8 @@
  * under the License.
  */
 
+#include <string_view>
+
 #include "drt_behavior_visualization/ui/behavior_tree_widget.hpp"
 
 namespace drt_behavior_visualization
@@ -175,44 +177,44 @@ void BehaviorTreeWidget::logger_callback(const std_msgs::msg::String::SharedPtr
   update_log_text();
 }
 
-std::string BehaviorTreeWidget::process_text(std::string text)
+void BehaviorTreeWidget::process_text(std::string& text)
 {
-  // terminal green
-  text = replace_string(text, green, "<font color=\"Green\">");
-  // btcpp green
-  text = replace_string(text, "\x1b[32m", "<font color=\"Green\">");
-  // terminal red
-  text = replace_string(text, red, "<font color=\"Red\">");
-  // btcpp red
-  text = replace_string(text, "\x1b[31m", "<font color=\"Red\">");
-  // terminal blue
-  text = replace_string(text, blue, "<font color=\"Blue\">");
-  // btcpp blue
-  text = replace_string(text, "\x1b[34m", "<font color=\"Blue\">");
-  // terminal yellow
-  text = replace_string(text, yellow, "<font color=\"Orange\">");
-  // btcpp yelow
-  text = replace_string(text, "\x1b[33m", "<font color=\"Orange\">");
-  // btcpp cyan
-  text = replace_string(text, "\x1b[36m", "<font color=\"Cyan\">");
-  // terminal end color
-  text = replace_string(text, end_color, "</font>");
-  // btcpp end color
-  text = replace_string(text, "\x1b[0m", "</font>");
-  text = replace_string(text, "\t", "  ");
-  text = replace_string(text, "│   ", "|&nbsp;&nbsp;&nbsp;");
-  text = replace_string(text, "    ", "&nbsp;&nbsp;&nbsp;&nbsp;");
-  text = replace_string(text, "\n", "<br/>");
-  text = replace_string(text, "\r", "<br/>");
-  return text;
+  std::string result;
+  result.reserve(text.size() * 2);  // Pre-allocate memory to prevent reallocations
+
+  size_t i = 0;
+  while (i < text.size())
+  {
+    bool matched = false;
+
+    for (const auto& [old_text, new_text] : text_replacements)
+    {
+      // Check if the current substring matches our token
+      if (text.compare(i, old_text.size(), old_text) == 0)
+      {
+        result.append(new_text);
+        i += old_text.size();
+        matched = true;
+        break;  // Move to the next position in the main string
+      }
+    }
+
+    if (!matched)
+    {
+      result.push_back(text[i]);
+      i++;
+    }
+  }
+
+  text = std::move(result);  // Efficiently swap the processed string back
 }
 
 void BehaviorTreeWidget::update_bt_text()
 {
   bool first_time = true;
   std::string bt_print_text = "";
 
-  for (const auto& bt_data : bt_text)
+  for (auto bt_data : bt_text)
   {
     if (first_time)
     {
@@ -222,7 +224,8 @@ void BehaviorTreeWidget::update_bt_text()
     {
       bt_print_text += "<br/>";
     }
-    bt_print_text += process_text(bt_data);
+    process_text(bt_data);
+    bt_print_text += bt_data;
   }
 
   auto formatted_bt_print_text = "<pre>" + bt_print_text + "</pre>";
@@ -273,7 +276,7 @@ void BehaviorTreeWidget::update_log_text()
   bool first_time = true;
   std::string log_text = "";
 
-  for (const auto& log_data : log)
+  for (auto log_data : log)
   {
     if (first_time)
     {
@@ -283,7 +286,8 @@ void BehaviorTreeWidget::update_log_text()
     {
       log_text += "<br/>";
     }
-    log_text += process_text(log_data);
+    process_text(log_data);
+    log_text += log_data;
   }
 
   auto formatted_log_text = "<pre style='white-space: pre-wrap;'>" + log_text + "</pre>";
@@ -298,17 +302,6 @@ void BehaviorTreeWidget::update_log_text()
   }
 }
 
-std::string BehaviorTreeWidget::replace_string(std::string string_to_replace, std::string old_text, std::string new_text)
-{
-  size_t pos = 0;
-  while ((pos = string_to_replace.find(old_text, pos)) != std::string::npos)
-  {
-    string_to_replace.replace(pos, old_text.length(), new_text);
-    pos += new_text.length();  // Move past the replaced part
-  }
-  return string_to_replace;
-}
-
 void BehaviorTreeWidget::waitForClient(rclcpp::ClientBase::SharedPtr client)
 {
   // Get the name of the client